CN105446316A - Pure electric vehicle control unit model in-loop test device and test method thereof - Google Patents

Pure electric vehicle control unit model in-loop test device and test method thereof Download PDF

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Publication number
CN105446316A
CN105446316A CN201510770351.5A CN201510770351A CN105446316A CN 105446316 A CN105446316 A CN 105446316A CN 201510770351 A CN201510770351 A CN 201510770351A CN 105446316 A CN105446316 A CN 105446316A
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module
test
parameter
information
car load
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曾其林
王志民
肖大伟
鄢治国
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Dongfang Electric (leshan) New Energy Equipment Co Ltd
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Dongfang Electric (leshan) New Energy Equipment Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00Testing or monitoring of control systems or parts thereof
    • G05B23/02Electric testing or monitoring
    • G05B23/0205Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/24Pc safety
    • G05B2219/24065Real time diagnostics

Abstract

The invention relates to a pure electric vehicle control unit model in-loop test device and a test method thereof. The test device comprises a parameter simulation module, an analysis and test module and a status display module, wherein the parameter simulation module is used for simulating the status information of a to-be-tested parameter, the analysis and test module is used for processing input-end parameter information and converting the input-end parameter information into information reflecting the vehicle running status, and the status display module is used for displaying the current vehicle running status. The test method comprises the following steps: S1, building a test model; S2, configuring test parameters and running test; and S3, monitoring the output content of model in-loop test, comparing the monitored output content with expected output, judging whether the control function and the control strategy of a VCU (Vehicle Control Unit) are appropriate, adjusting and optimizing the control strategy, and retesting the model. According to the invention, whether the control strategy of the VCU is appropriate can be detected and corresponding strategy optimization can be carried out in the development stage, the development cost is reduced, and the development cycle of products is shortened.

Description

A kind of pure electric vehicle controller model is in ring test device and method of testing thereof
Technical field
The present invention relates to new-energy automobile field, particularly a kind of pure electric vehicle controller model is in ring test device and method of testing thereof.
Background technology
From the strategic objective of countries in the world, Development of EV is generally asserted the important channel ensureing energy security and make the transition low-carbon economy, is the Main way solving the energy and the dual problem of environmental protection.Pure electric vehicle power system mainly comprises: electrokinetic cell, drive motor, electric machine controller and entire car controller (VehicleControlUnit is called for short VCU).Wherein, VCU is responsible for driving information collection, each unit status monitoring of car load, and distributes driving torque, car load energy management, high pressure management, the start and stop of auxiliary electrical parts, system failure process etc.VCU is car load power system core building block, for ensureing its reliable and stable operation, seems particularly important in performance history to the control strategy test of VCU.
The development scheme of current VCU mainly adopts the development approach based on " model-real time workshop ", and the code automatically generated is compared with hand-written code, adopts conventional code to debug the test request that can not meet towards model developing method.Adopt the special test equipments such as CAN card, testing cost is high, and the mass data related in test process is not easily directly monitored, and Output rusults is readable poor, causes testing efficiency greatly to reduce.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, provide a kind of and simulate accurate, that versatility is high pure electric vehicle controller model in ring test device and method of testing thereof.
Object of the present invention is achieved through the following technical solutions: a kind of pure electric vehicle controller model is at ring test device, it is characterized in that, it comprises with lower module: parameter simulation module, analytical test module and state display module, the output interface of described parameter simulation module is connected with the input interface of analytical test module, the output interface connection status display module of analytical test module; Parameter simulation module for simulating parameter status information to be measured, analytical test module for the treatment of input end parameter information and be translated into reaction motoring condition information, state display module is for showing current vehicle operating status.
Further, described parameter simulation module comprises following submodule: Driver Model, operating mode module and malfunctioning module, and Driver Model, operating mode module and malfunctioning module are respectively used to the failure condition of the directly actuated signal message of drive simulating person, road running mode information and each parts of car load power system; Described analytical test module comprises following submodule: control strategy module, car load power plant module, motor module, battery module and battery management module, control strategy module is the core of whole device, also be measurand, it includes all control strategies that pure electric automobile runs and protects, and car load power plant module, motor module, battery module and battery management module are respectively used to simulate current car load dynamic regime, motor operating state, battery using state and battery management state; The information of vehicle-state display module display comprises vehicle operating modes, the speed of a motor vehicle, motor output torque.
A kind of pure electric vehicle controller model is at ring test method, and it comprises the following steps:
S1, set up test model, described test model comprises parameter simulation model and analytical test model, parameter simulation model is for simulating parameter information to be tested, and analytical test model is analyzed input end information and tested, and is translated into the information of reaction motoring condition;
S2, configuration testing parameter, input test information testing results;
S3, monitoring model are at the output content of ring test, described output content comprises: vehicle operating modes, the speed of a motor vehicle and motor output torque, and the output content monitored and desired output are made comparisons, thus judge whether the controlling functions of VCU and control strategy are suitable for, and adjusting and optimizing control strategy, the test case that test is not passed through is retested.
Further, the input interface of the output interface linking parsing test model of the parameter simulation model in described step S1, analytical test model output terminal is connected with state display module, described parameter simulation model comprises following submodule: pilot model, condition model and fault model, pilot model is used for the directly actuated parameter information of the simulation person of sailing, condition model is used for simulated roadway driving cycle parameter information, and fault model is for simulating each unit failure state parameter information of car load power system; Described analytical test model comprises following submodule: control strategy model, car load dynamic model, motor module, battery module and battery management module; control strategy model is the core of whole test model; also be measurand; it includes all control strategies that pure electric automobile runs and protects, and car load dynamic model, motor model, battery model and battery management model are respectively used to simulate current car load dynamic regime, current motor running state, present battery using state and present battery supervisor status.
Analytical test model is the center section of whole test model, front end input pilot model, condition model, fault model, middle part control strategy model carries out data real-time, interactive together with motor model, car load dynamic model, battery model, battery management model, and rear end exports vehicle-state for monitoring; The system testing of pure electric vehicle controller can be realized by above each model, verify mainly through monitor vehicle operational mode, the speed of a motor vehicle, these three major parameters of motor output torque and adjust control strategy; Described integrated vehicle control tactics model is the core of whole test macro, is also measurand, and it contains all control strategies running pure electric automobile, protect.
Described pilot model is mainly the directly actuated signal of driver, mainly comprises following information: key signal message, gear information, pedal position information and parking brake information etc.; Described condition model comprises gradient parameter and road surface slippery extent index etc.; Described fault model comprises electrical fault module, electric machine controller malfunctioning module, battery failures module, battery management system malfunctioning module and auxiliary electrical unit failure module, and other faults of vehicle, and each fault all has fault level to divide; Described motor model comprises with parameters such as motor speed, motor output torque, electric current and temperature; Described battery model comprises the parameters such as present battery total voltage, total current, SOC, SOH and monomer extreme value information; Described battery management model comprises the parameters such as the actual active volume of present battery, maximum permission charging and discharging currents and main contactor state.
Further, described step S2 comprises following sub-step:
S21, configuration whole-car parameters table, parameter configuration car load power system related to is to whole-car parameters file; The parameter that car load power system relates to comprises kerb weight, the biggest quality, vehicle dimension, air resistance coefficient, tire rolling radius, base ratio, transmission system efficiency etc., also comprise the correlation parameter of all parts in described model, can be the multiple parameter list of multiple automobile type configuration;
S22, by whole-car parameters table import test macro; Mainly parameter values total for parameter list is docked with corresponding model, the test that multi-vehicle-type, same parts are dissimilar can be realized, each data detected will be needed simultaneously to add monitoring scopes;
S23, configuration testing environmental parameter; As test duration, step-length, operational mode etc.;
S24, testing results, run by click model and start test, after model normally runs, each data real-time status can be detected, and can increase and decrease monitoring target at any time.
Further, described car load dynamic model is built according to dynamics of vehicle computing formula, and specific formula for calculation is as follows:
F t=F f+F w+F i
M m i g i 0 η r d = f G cos α + C D Av 2 21.15 + G sin α
M m = ( f G c o s α + C D Av 2 21.15 + G s i n α ) r d i g i 0 η
In formula, F tfor the driving force of electric automobile, unit is N; F ffor resistance to rolling, unit is N; F wfor air resistance, unit is N; F ifor gradient resistance, unit is N; M mfor electric automobile driving torque, unit is Nm; i gfor transmission ratio, dimensionless; i 0for base ratio, dimensionless; η is kinematic train machinery driving efficiency, dimensionless; r dfor radius of wheel, unit is m; F is coefficient of rolling resistance, dimensionless; G is electric automobile whole gravity, and unit is N; α is ramp angles, and unit is degree (°); C dfor air resistance coefficient, dimensionless; A is front face area, and unit is m 2; V is car speed, and unit is m/s.
Speed of a motor vehicle v and the electric automobile driving torque M of whole test model needs can be obtained from above-mentioned car load dynamic model m.
Further, described car load dynamic model comprises Brake energy recovery module.Dynamic model compared to conventional truck considers Brake energy recovery module unlike car load dynamic model of the present invention specially for pure electric automobile.Brake energy recovery is one of most important reference mark in whole pure electric vehicle control strategy, and it by affecting the speed of a motor vehicle in model output parameters, can directly affect car load energy consumption and vehicle riding comfort.The foundation of Brake energy recovery module effectively can draw energy regenerating situation in integrated vehicle control tactics, thus instructs the formulation of energy regenerating strategy.In this model and test macro, the relation of other model as shown in Figure 3.
Further, the concrete grammar that described pilot model is set up is: according to a large amount of real vehicle data creation facilities program (CFP) in matlab, and adopt sample learning method, the result of study is outputted to simulink and obtains pilot model.
The pilot model used during tradition VCU test is generally simple test case, and it is no problem that this simple test case carries out simple functional test at the test initial stage, but just seems weak for the test of detailed control strategy.On the one hand, test result is single, cannot carry out test comparison; On the other hand, test case and driver's practical operation deviation are too large, and simulate effect is not obvious.The pilot model set up in the present invention is based on a large amount of real vehicle data acquisition, comprise the driver operational data under different driving habitses, different road condition (city operating mode, suburbs operating mode, high-speed working condition etc.), creation facilities program (CFP) in matlab, and adopt sample learning method, the result of study is outputted to simulink and obtains pilot model.
The present invention has the following advantages:
1, the present invention proposes a kind of pure electric vehicle controller model in ring test device and method of testing thereof, establish the model of links, connected together by interface; The influence factor of consideration when model is set up is comprehensive, and the functional module that model comprises is enriched, and the model of each link is all set up based on abundant characterisitic parameter, real vehicle data and operation characteristic, has and simulates accurate, versatility advantages of higher.
2, model makes developer without the need to carrying out any operation to the code generated in ring test, after test is correct, and embedded system of can writing direct.
3, the present invention in the rationality of the development phase detection control strategy of entire car controller, can carry out corresponding policy optimization, reduces cost of development, greatly shortens the construction cycle of product.
Accompanying drawing explanation
Fig. 1 is the structural representation of test model of the present invention;
Fig. 2 is be the process flow diagram of method of testing in the specific embodiment of the invention;
Fig. 3 is the graph of a relation in car load dynamic model and test model between other models;
The pilot model figure of Fig. 4 for setting up in the specific embodiment of the invention;
Fig. 5 be in embodiment pilot model as the Output rusults figure obtained during one of test model input.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described, but protection scope of the present invention is not limited to the following stated.
A kind of pure electric vehicle controller model is at ring test device, it is characterized in that, it comprises with lower module: parameter simulation module, analytical test module and state display module, the output interface of described parameter simulation module is connected with the input interface of analytical test module, the output interface connection status display module of analytical test module; Parameter simulation module for simulating parameter status information to be measured, analytical test module for the treatment of input end parameter information and be translated into reaction motoring condition information, state display module is for showing current vehicle operating status.
Further, described parameter simulation module comprises following submodule: Driver Model, operating mode module and malfunctioning module, and Driver Model, operating mode module and malfunctioning module are respectively used to the failure condition of the directly actuated signal message of drive simulating person, road running mode information and each parts of car load power system; Described analytical test module comprises following submodule: control strategy module, car load power plant module, motor module, battery module and battery management module, control strategy module is the core of whole device, also be measurand, it includes all control strategies that pure electric automobile runs and protects, and car load power plant module, motor module, battery module and battery management module are respectively used to simulate current car load dynamic regime, motor operating state, battery using state and battery management state; The information of vehicle-state display module display comprises vehicle operating modes, the speed of a motor vehicle, motor output torque.
A kind of pure electric vehicle controller model is at ring test method, and it comprises the following steps:
S1, set up test model, described test model comprises parameter simulation model and analytical test model, parameter simulation model is for simulating parameter information to be tested, and analytical test model is analyzed input end information and tested, and is translated into the information of reaction motoring condition;
The input interface of the output interface linking parsing test model of described parameter simulation model, analytical test model output terminal is connected with state display module, described parameter simulation model comprises following submodule: pilot model, condition model and fault model, pilot model is used for the directly actuated parameter information of the simulation person of sailing, condition model is used for simulated roadway driving cycle parameter information, and fault model is for simulating each unit failure state parameter information of car load power system; Described analytical test model comprises following submodule: control strategy model, car load dynamic model, motor module, battery module and battery management module; control strategy model is the core of whole test model; also be measurand; it includes all control strategies that pure electric automobile runs and protects; car load dynamic model, motor model, battery model and battery management model are respectively used to simulate current car load dynamic regime, current motor running state, present battery using state and present battery supervisor status, and Fig. 1 is the structural representation of test model.Analytical test model is the center section of whole test macro, front end input pilot model, condition model, fault model, middle part control strategy model carries out data real-time, interactive together with motor model, car load dynamic model, battery model, battery management model, and rear end exports vehicle-state for monitoring; The system testing of pure electric vehicle controller can be realized by above each model, verify mainly through monitor vehicle operational mode, the speed of a motor vehicle, these three major parameters of motor output torque and adjust control strategy; Described integrated vehicle control tactics model is the core of whole test macro, is also measurand, and it contains all control strategies running pure electric automobile, protect.
Described pilot model is mainly the directly actuated signal of driver, mainly comprises following information: key signal message, gear information, pedal position information and parking brake information etc.; Described condition model comprises gradient parameter and road surface slippery extent index etc.; Described fault model comprises electrical fault module, electric machine controller malfunctioning module, battery failures module, battery management system malfunctioning module and auxiliary electrical unit failure module, and other faults of vehicle, and each fault all has fault level to divide; Described motor model comprises with parameters such as motor speed, motor output torque, electric current and temperature; Described battery model comprises the parameters such as present battery total voltage, total current, SOC, SOH and monomer extreme value information; Described battery management model comprises the parameters such as the actual active volume of present battery, maximum permission charging and discharging currents and main contactor state.
Herein, car load dynamic model is built according to dynamics of vehicle computing formula, and specific formula for calculation is as follows:
F t=F f+F w+F i
M m i g i 0 η r d = f G cos α + C D Av 2 21.15 + G sin α
M m = ( f G c o s α + C D Av 2 21.15 + G sin α ) r d i g i 0 η
In formula, F tfor the driving force of electric automobile, unit is N; F ffor resistance to rolling, unit is N; F wfor air resistance, unit is N; F ifor gradient resistance, unit is N; M mfor electric automobile driving torque, unit is Nm; i gfor transmission ratio, dimensionless; i 0for base ratio, dimensionless; η is kinematic train machinery driving efficiency, dimensionless; r dfor radius of wheel, unit is m; F is coefficient of rolling resistance, dimensionless; G is electric automobile whole gravity, and unit is N; α is ramp angles, and unit is degree (°); C dfor air resistance coefficient, dimensionless; A is front face area, and unit is m 2; V is car speed, and unit is m/s.
Speed of a motor vehicle v and the electric automobile driving torque M of whole test model needs can be obtained from above-mentioned car load dynamic model m.
Car load dynamic model comprises Brake energy recovery module.Dynamic model compared to conventional truck considers Brake energy recovery module unlike car load dynamic model of the present invention specially for pure electric automobile.Brake energy recovery is one of most important reference mark in whole pure electric vehicle control strategy, and it by affecting the speed of a motor vehicle in model output parameters, can directly affect car load energy consumption and vehicle riding comfort.The foundation of Brake energy recovery module effectively can draw energy regenerating situation in integrated vehicle control tactics, thus instructs the formulation of energy regenerating strategy.In this model and test model, the relation of other model as shown in Figure 3.
The concrete grammar that pilot model is set up is: according to a large amount of real vehicle data creation facilities program (CFP) in matlab, and adopt sample learning method, the result of study is outputted to simulink and obtains pilot model.
The pilot model used during tradition VCU test is generally simple test case, and it is no problem that this simple test case carries out simple functional test at the test initial stage, but just seems weak for the test of detailed control strategy.On the one hand, test result is single, cannot carry out test comparison; On the other hand, test case and driver's practical operation deviation are too large, and simulate effect is not obvious.The pilot model set up in the present invention is based on a large amount of real vehicle data acquisition, comprise the driver operational data under different driving habitses, different road condition (city operating mode, suburbs operating mode, high-speed working condition etc.), creation facilities program (CFP) in matlab, and adopt sample learning method, the result of study is outputted to simulink and obtains pilot model, the pilot model set up as shown in Figure 4.
S2, configuration testing parameter, input test information testing results, detailed process comprises following sub-step:
S21, configuration whole-car parameters table, parameter configuration car load power system related to is to whole-car parameters file; The parameter that car load power system relates to comprises kerb weight, the biggest quality, vehicle dimension, air resistance coefficient, tire rolling radius, base ratio, transmission system efficiency etc., also comprise the correlation parameter of all parts in described model, can be the multiple parameter list of multiple automobile type configuration;
S22, by whole-car parameters table import test macro; Mainly parameter values total for parameter list is docked with corresponding model, the test that multi-vehicle-type, same parts are dissimilar can be realized, each data detected will be needed simultaneously to add monitoring scopes;
S23, configuration testing environmental parameter; As test duration, step-length, operational mode etc.;
S24, testing results, run by click model and start test, after model normally runs, each data real-time status can be detected, and can increase and decrease monitoring target at any time.
S3, monitoring model are at the output content of ring test, described output content comprises: vehicle operating modes, the speed of a motor vehicle and motor output torque, and the output content monitored and desired output are made comparisons, thus judge whether the controlling functions of VCU and control strategy are suitable for, and adjusting and optimizing control strategy, the test case that test is not passed through is retested.
Fig. 2 is the process flow diagram of method of testing in present embodiment, and Fig. 5 is test Output rusults when using the present invention using pilot model as input.In Fig. 5,5 curves represent vehicle running state, Motor torque output, the speed of a motor vehicle, accelerator pedal signal, brake pedal signal respectively from top to bottom.Such as in the 4.6s moment, pilot model is input as " drive shift, accelerator pedal aperture constantly increase ", can see that motor driving torque, rotating speed (speed of a motor vehicle) export also constantly to rise, due to the impact of controlled strategy, each slope of a curve is different, and now car load is in " acceleration " state.In the 23.6s moment, pilot model is input as " drive shift, brake pedal aperture constantly increase ", can see that motor driving torque drops to 0 very soon, braking torque constantly rises, rotating speed exports and constantly decline, due to the impact of energy regenerating control strategy, the absolute value reclaiming current value (for negative value) constantly increases, further again, the speed of a motor vehicle constantly declines, and affects by car load pleasant climate, the absolute value reclaiming current value returns 0 gradually, and last vehicle stops.
As can be seen from above example, under what this test model was complete tested out pure electric automobile " acceleration-deceleration-energy regenerating-parking " this operating condition, a series of control strategies of entire car controller, and the car load dynamic model of described consideration Brake energy recovery and pilot model have carried out good simulation to whole process.
In test process, can also use described fault model, simulation produces fault, the defencive function of testing and control strategy; Use described condition model, simulate different road conditions, the energy distribution function of testing and control strategy.

Claims (8)

1. a pure electric vehicle controller model is at ring test device, it is characterized in that, it comprises with lower module: parameter simulation module, analytical test module and state display module, the output interface of described parameter simulation module is connected with the input interface of analytical test module, the output interface connection status display module of analytical test module; Parameter simulation module for simulating parameter status information to be measured, analytical test module for the treatment of input end parameter information and be translated into reaction motoring condition information, state display module is for showing current vehicle operating status.
2. a kind of pure electric vehicle controller model according to claim 1 is at ring test device, it is characterized in that, described parameter simulation module comprises following submodule: Driver Model, operating mode module and malfunctioning module, and Driver Model, operating mode module and malfunctioning module are respectively used to the failure condition of the directly actuated signal message of drive simulating person, road running mode information and each parts of car load power system; Described analytical test module comprises following submodule: control strategy module, car load power plant module, motor module, battery module and battery management module, control strategy module is the core of whole device, it includes all control strategies that pure electric automobile runs and protects, and car load power plant module, motor module, battery module and battery management module are respectively used to simulate current car load dynamic regime, motor operating state, battery using state and battery management state; The information of vehicle-state display module display comprises vehicle operating modes, the speed of a motor vehicle, motor output torque.
3. pure electric vehicle controller model is at a ring test method, it is characterized in that, it comprises the following steps:
S1, set up test model, described test model comprises parameter simulation model and analytical test model, parameter simulation model is for simulating parameter information to be tested, and analytical test model is analyzed input end information and tested, and is translated into the information of reaction motoring condition;
S2, configuration testing parameter, input test information testing results;
S3, monitoring model are at the output content of ring test, described output content comprises: vehicle operating modes, the speed of a motor vehicle and motor output torque, and the output content monitored and desired output are made comparisons, thus judge whether the controlling functions of VCU and control strategy are suitable for, and adjusting and optimizing control strategy, the test case that test is not passed through is retested.
4. a kind of pure electric vehicle controller model according to claim 3 is at ring test method, it is characterized in that, the input interface of the output interface linking parsing test model of the parameter simulation model in described step S1, analytical test model output terminal is connected with state display module, described parameter simulation model comprises following submodule: pilot model, condition model and fault model, pilot model is used for the directly actuated parameter information of the simulation person of sailing, condition model is used for simulated roadway driving cycle parameter information, fault model is for simulating each unit failure state parameter information of car load power system, described analytical test model comprises following submodule: control strategy model, car load dynamic model, motor module, battery module and battery management module, control strategy model is the core of whole test model, also be measurand, it includes all control strategies that pure electric automobile runs and protects, and car load dynamic model, motor model, battery model and battery management model are respectively used to simulate current car load dynamic regime, current motor running state, present battery using state and present battery supervisor status.
5. a kind of pure electric vehicle controller model according to claim 3 is at ring test method, and it is characterized in that, described step S2 comprises following sub-step:
S21, configuration whole-car parameters table, parameter configuration car load power system related to is to whole-car parameters file;
S22, by whole-car parameters table import test macro;
S23, configuration testing environmental parameter;
S24, testing results, run by click model and start test, after model normally runs, each data real-time status can be detected, and can increase and decrease monitoring target at any time.
6. a kind of pure electric vehicle controller model according to claim 4 is at ring test method, it is characterized in that, described car load dynamic model is built according to dynamics of vehicle computing formula, and specific formula for calculation is as follows:
F t=F f+F w+F i
M m i g i 0 η r d = f G c o s α + C D Av 2 21.15 + G s i n α
M m = ( f G cos α + C D Av 2 21.15 + G sin α ) r d i g i 0 η
In formula, F tfor the driving force of electric automobile, unit is N; F ffor resistance to rolling, unit is N; F wfor air resistance, unit is N; F ifor gradient resistance, unit is N; M mfor electric automobile driving torque, unit is Nm; i gfor transmission ratio, dimensionless; i 0for base ratio, dimensionless; η is kinematic train machinery driving efficiency, dimensionless; r dfor radius of wheel, unit is m; F is coefficient of rolling resistance, dimensionless; G is electric automobile whole gravity, and unit is N; α is ramp angles, and unit is degree (°); C dfor air resistance coefficient, dimensionless; A is front face area, and unit is m 2; V is car speed, and unit is m/s.
7. a kind of pure electric vehicle controller model according to claim 4 is at ring test method, it is characterized in that: described car load dynamic model comprises Brake energy recovery module.
8. a kind of pure electric vehicle controller model according to claim 4 is at ring test method, it is characterized in that: the concrete grammar that described pilot model is set up is: according to a large amount of real vehicle data creation facilities program (CFP) in matlab, and adopt sample learning method, the result of study is outputted to simulink and obtains pilot model.
CN201510770351.5A 2015-11-12 2015-11-12 Pure electric vehicle control unit model in-loop test device and test method thereof Pending CN105446316A (en)

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CN109828501B (en) * 2019-01-31 2020-11-13 广州小鹏汽车科技有限公司 Interface configuration method, system and storage medium of test model
CN110751873A (en) * 2019-11-15 2020-02-04 郑州意昂新能源汽车科技有限公司 Method for interconnecting whole vehicle electric control practical training platform of new energy automobile and actual vehicle
CN110926827A (en) * 2019-11-30 2020-03-27 河南科技大学 Automatic optimization and calibration system for vehicle control parameters
CN111061256A (en) * 2019-12-30 2020-04-24 武汉海亿新能源科技有限公司 Vehicle control unit testing method and system

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